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<div class="title">registration.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
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<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
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<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
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<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Source, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Target, <span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a6a111fe9b14dc3c65ca420b640e42de9">   43</a></span>&#160;<a class="code" href="classpcl_1_1_registration.html#a6a111fe9b14dc3c65ca420b640e42de9">pcl::Registration&lt;PointSource, PointTarget, Scalar&gt;::setInputCloud</a> (</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    <span class="keyword">const</span> <span class="keyword">typename</span> pcl::Registration&lt;PointSource, PointTarget, Scalar&gt;::PointCloudSourceConstPtr &amp;cloud)</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;{</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  setInputSource (cloud);</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;}</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Source, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Target, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">typename</span> pcl::Registration&lt;PointSource, PointTarget, Scalar&gt;::PointCloudSourceConstPtr <span class="keyword">const</span></div>
<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a27a6eb286aef8d790a6570018e0dfa9b">   51</a></span>&#160;<a class="code" href="classpcl_1_1_registration.html#a27a6eb286aef8d790a6570018e0dfa9b">pcl::Registration&lt;PointSource, PointTarget, Scalar&gt;::getInputCloud</a> ()</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;{</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keywordflow">return</span> (getInputSource ());</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;}</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Source, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Target, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a4c4e69008295052913c76175797b99a9">   58</a></span>&#160;<a class="code" href="classpcl_1_1_registration.html#a4c4e69008295052913c76175797b99a9">pcl::Registration&lt;PointSource, PointTarget, Scalar&gt;::setInputTarget</a> (<span class="keyword">const</span> PointCloudTargetConstPtr &amp;cloud)</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;{</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="keywordflow">if</span> (cloud-&gt;points.empty ())</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  {</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::setInputTarget] Invalid or empty point cloud dataset given!\n&quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  }</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  target_ = cloud;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  target_cloud_updated_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;}</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Source, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Target, <span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a0b42c13696bef68c50d5c3135bc573cf">   71</a></span>&#160;<a class="code" href="classpcl_1_1_registration.html#a0b42c13696bef68c50d5c3135bc573cf">pcl::Registration&lt;PointSource, PointTarget, Scalar&gt;::initCompute</a> ()</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;{</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="keywordflow">if</span> (!target_)</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  {</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::registration::%s::compute] No input target dataset was given!\n&quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  }</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <span class="comment">// Only update target kd-tree if a new target cloud was set</span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="keywordflow">if</span> (target_cloud_updated_ &amp;&amp; !force_no_recompute_)</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  {</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    tree_-&gt;setInputCloud (target_);</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    target_cloud_updated_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  }</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  <span class="comment">// Update the correspondence estimation</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="keywordflow">if</span> (correspondence_estimation_)</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  {</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    correspondence_estimation_-&gt;setSearchMethodTarget (tree_, force_no_recompute_);</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    correspondence_estimation_-&gt;setSearchMethodSource (tree_reciprocal_, force_no_recompute_reciprocal_);</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  }</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="comment">// Note: we /cannot/ update the search method on all correspondence rejectors, because we know </span></div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <span class="comment">// nothing about them. If they should be cached, they must be cached individually.</span></div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointSource&gt;::initCompute</a> ());</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;}</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Source, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Target, <span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#ae210269f0404556b8dd7f4306084a91d">  102</a></span>&#160;<a class="code" href="classpcl_1_1_registration.html#ae210269f0404556b8dd7f4306084a91d">pcl::Registration&lt;PointSource, PointTarget, Scalar&gt;::initComputeReciprocal</a> ()</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;{</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <span class="keywordflow">if</span> (!input_)</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  {</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::registration::%s::compute] No input source dataset was given!\n&quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  }</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  <span class="keywordflow">if</span> (source_cloud_updated_ &amp;&amp; !force_no_recompute_reciprocal_)</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  {</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    tree_reciprocal_-&gt;setInputCloud (input_);</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    source_cloud_updated_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  }</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;}</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Source, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Target, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a4b9c05b613e698af21f3cb048e611adc">  120</a></span>&#160;<a class="code" href="classpcl_1_1_registration.html#ab26742c383b6f5e86fb96a236fb08728">pcl::Registration&lt;PointSource, PointTarget, Scalar&gt;::getFitnessScore</a> (</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    <span class="keyword">const</span> std::vector&lt;float&gt; &amp;distances_a,</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <span class="keyword">const</span> std::vector&lt;float&gt; &amp;distances_b)</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;{</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nr_elem = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (std::min (distances_a.size (), distances_b.size ()));</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  Eigen::VectorXf map_a = Eigen::VectorXf::Map (&amp;distances_a[0], nr_elem);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  Eigen::VectorXf map_b = Eigen::VectorXf::Map (&amp;distances_b[0], nr_elem);</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> ((map_a - map_b).sum ()) / <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (nr_elem));</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;}</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Source, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Target, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#ab26742c383b6f5e86fb96a236fb08728">  132</a></span>&#160;<a class="code" href="classpcl_1_1_registration.html#ab26742c383b6f5e86fb96a236fb08728">pcl::Registration&lt;PointSource, PointTarget, Scalar&gt;::getFitnessScore</a> (<span class="keywordtype">double</span> max_range)</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;{</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  <span class="keywordtype">double</span> fitness_score = 0.0;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  <span class="comment">// Transform the input dataset using the final transformation</span></div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudSource</a> input_transformed;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  <a class="code" href="group__common.html#ga52d532f7f2b4d7bba78d13701d3a33d8">transformPointCloud</a> (*input_, input_transformed, final_transformation_);</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  std::vector&lt;int&gt; nn_indices (1);</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  std::vector&lt;float&gt; nn_dists (1);</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  <span class="comment">// For each point in the source dataset</span></div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  <span class="keywordtype">int</span> nr = 0;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; input_transformed.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); ++i)</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  {</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    <span class="comment">// Find its nearest neighbor in the target</span></div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    tree_-&gt;nearestKSearch (input_transformed.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i], 1, nn_indices, nn_dists);</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    <span class="comment">// Deal with occlusions (incomplete targets)</span></div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    <span class="keywordflow">if</span> (nn_dists[0] &lt;= max_range)</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    {</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      <span class="comment">// Add to the fitness score</span></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      fitness_score += nn_dists[0];</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      nr++;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    }</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  }</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  <span class="keywordflow">if</span> (nr &gt; 0)</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <span class="keywordflow">return</span> (fitness_score / nr);</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    <span class="keywordflow">return</span> (std::numeric_limits&lt;double&gt;::max ());</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;}</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Source, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Target, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00169"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a96212303ca16b6d60020824086887c4f">  169</a></span>&#160;<a class="code" href="classpcl_1_1_registration.html#a96212303ca16b6d60020824086887c4f">pcl::Registration&lt;PointSource, PointTarget, Scalar&gt;::align</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloudSource</a> &amp;output)</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;{</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  align (output, Matrix4::Identity ());</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;}</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Source, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Target, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00176"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#ab1d64f86162b2df716ead8d978579c11">  176</a></span>&#160;<a class="code" href="classpcl_1_1_registration.html#a96212303ca16b6d60020824086887c4f">pcl::Registration&lt;PointSource, PointTarget, Scalar&gt;::align</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloudSource</a> &amp;output, <span class="keyword">const</span> Matrix4&amp; guess)</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;{</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  <span class="keywordflow">if</span> (!initCompute ()) </div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  <span class="comment">// Resize the output dataset</span></div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  <span class="keywordflow">if</span> (output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size () != indices_-&gt;size ())</div>
<div class="line"><a name="l00183"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a6a111fe9b14dc3c65ca420b640e42de9">  183</a></span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (indices_-&gt;size ());</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  <span class="comment">// Copy the header</span></div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a>   = input_-&gt;header;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  <span class="comment">// Check if the output will be computed for all points or only a subset</span></div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  <span class="keywordflow">if</span> (indices_-&gt;size () != input_-&gt;points.size ())</div>
<div class="line"><a name="l00188"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a27a6eb286aef8d790a6570018e0dfa9b">  188</a></span>&#160;  {</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>    = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (indices_-&gt;size ());</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>   = 1;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  }</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  {</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>    = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (input_-&gt;width);</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>   = input_-&gt;height;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  }</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = input_-&gt;is_dense;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  <span class="comment">// Copy the point data to output</span></div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; indices_-&gt;size (); ++i)</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i] = input_-&gt;points[(*indices_)[i]];</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;  <span class="comment">// Set the internal point representation of choice unless otherwise noted</span></div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;  <span class="keywordflow">if</span> (point_representation_ &amp;&amp; !force_no_recompute_) </div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    tree_-&gt;setPointRepresentation (point_representation_);</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160; </div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;  <span class="comment">// Perform the actual transformation computation</span></div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  converged_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  final_transformation_ = transformation_ = previous_transformation_ = Matrix4::Identity ();</div>
<div class="line"><a name="l00210"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a4c4e69008295052913c76175797b99a9">  210</a></span>&#160; </div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;  <span class="comment">// Right before we estimate the transformation, we set all the point.data[3] values to 1 to aid the rigid </span></div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  <span class="comment">// transformation</span></div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; indices_-&gt;size (); ++i)</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].data[3] = 1.0;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160; </div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  computeTransformation (output, guess);</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;  deinitCompute ();</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;}</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a></div><div class="ttdoc">PCL base class. Implements methods that are used by most PCL algorithms.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointSource &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a82e0be055a617e5e74102ed62712b352"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">pcl::PointCloud::header</a></div><div class="ttdeci">pcl::PCLHeader header</div><div class="ttdoc">The point cloud header. It contains information about the acquisition time.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:407</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a0b42c13696bef68c50d5c3135bc573cf"><div class="ttname"><a href="classpcl_1_1_registration.html#a0b42c13696bef68c50d5c3135bc573cf">pcl::Registration::initCompute</a></div><div class="ttdeci">bool initCompute()</div><div class="ttdoc">Internal computation initalization.</div><div class="ttdef"><b>Definition:</b> registration.hpp:71</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a27a6eb286aef8d790a6570018e0dfa9b"><div class="ttname"><a href="classpcl_1_1_registration.html#a27a6eb286aef8d790a6570018e0dfa9b">pcl::Registration::getInputCloud</a></div><div class="ttdeci">PointCloudSourceConstPtr const getInputCloud()</div><div class="ttdoc">Get a pointer to the input point cloud dataset target.</div><div class="ttdef"><b>Definition:</b> registration.hpp:51</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a4c4e69008295052913c76175797b99a9"><div class="ttname"><a href="classpcl_1_1_registration.html#a4c4e69008295052913c76175797b99a9">pcl::Registration::setInputTarget</a></div><div class="ttdeci">virtual void setInputTarget(const PointCloudTargetConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input target (e.g., the point cloud that we want to align the input source t...</div><div class="ttdef"><b>Definition:</b> registration.hpp:58</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a6a111fe9b14dc3c65ca420b640e42de9"><div class="ttname"><a href="classpcl_1_1_registration.html#a6a111fe9b14dc3c65ca420b640e42de9">pcl::Registration::setInputCloud</a></div><div class="ttdeci">void setInputCloud(const PointCloudSourceConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input source (e.g., the point cloud that we want to align to the target)</div><div class="ttdef"><b>Definition:</b> registration.hpp:43</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a96212303ca16b6d60020824086887c4f"><div class="ttname"><a href="classpcl_1_1_registration.html#a96212303ca16b6d60020824086887c4f">pcl::Registration::align</a></div><div class="ttdeci">void align(PointCloudSource &amp;output)</div><div class="ttdoc">Call the registration algorithm which estimates the transformation and returns the transformed source...</div><div class="ttdef"><b>Definition:</b> registration.hpp:169</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_ab26742c383b6f5e86fb96a236fb08728"><div class="ttname"><a href="classpcl_1_1_registration.html#ab26742c383b6f5e86fb96a236fb08728">pcl::Registration::getFitnessScore</a></div><div class="ttdeci">double getFitnessScore(double max_range=std::numeric_limits&lt; double &gt;::max())</div><div class="ttdoc">Obtain the Euclidean fitness score (e.g., sum of squared distances from the source to the target)</div><div class="ttdef"><b>Definition:</b> registration.hpp:132</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_ae210269f0404556b8dd7f4306084a91d"><div class="ttname"><a href="classpcl_1_1_registration.html#ae210269f0404556b8dd7f4306084a91d">pcl::Registration::initComputeReciprocal</a></div><div class="ttdeci">bool initComputeReciprocal()</div><div class="ttdoc">Internal computation when reciprocal lookup is needed</div><div class="ttdef"><b>Definition:</b> registration.hpp:102</div></div>
<div class="ttc" id="agroup__common_html_ga52d532f7f2b4d7bba78d13701d3a33d8"><div class="ttname"><a href="group__common.html#ga52d532f7f2b4d7bba78d13701d3a33d8">pcl::transformPointCloud</a></div><div class="ttdeci">void transformPointCloud(const pcl::PointCloud&lt; PointT &gt; &amp;cloud_in, pcl::PointCloud&lt; PointT &gt; &amp;cloud_out, const Eigen::Transform&lt; Scalar, 3, Eigen::Affine &gt; &amp;transform, bool copy_all_fields=true)</div><div class="ttdoc">Apply an affine transform defined by an Eigen Transform</div><div class="ttdef"><b>Definition:</b> transforms.hpp:42</div></div>
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